Wik de Haas / Mbed 2 deprecated Aansturing_Groep_4

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Dependencies:   Encoder HIDScope mbed

Fork of Aansturing_knoppen by Wik de Haas

controller.h

Committer:
wikdehaas
Date:
2016-10-27
Revision:
1:a644028231b5
Parent:
0:55f9447aa02b

File content as of revision 1:a644028231b5:

void controller_1()
{
double theta_1 = acos((sqrt(pow(x,2)+pow(yc,2))/(2*L2))+asin(yc/(sqrt(pow(x,2)+pow(yc,2))));
double theta_2 = acos((x/L2)-cos(theta_1));

double reference_1 = theta_1;     //reference
double plaats_1 = 0.0014959*encoder_1.getPosition(); //positie encodercounts naar hoek
double error_1 = reference_1 - plaats_1 ;
double pwm_1 = PID(error_1, m1_Kp, m1_Ki, m1_Kd, m1_Ts, m1_N, m1_v1, m1_v2 );
if (pwm_1<0){motor_1 = 1;}
else {motor_1 = 0;}
pwm_motor_1 = fabs(pwm_1);

double reference_2 = theta_2;     //reference
double plaats_2 = 0.0014959*encoder_2.getPosition(); //positie encodercounts naar hoek
double error_2 = reference_2 - plaats_2 ;
double pwm_2 = PID(error_2, m2_Kp, m2_Ki, m2_Kd, m2_Ts, m2_N, m2_v1, m2_v2 );
if (pwm_2<0){motor_2 = 0;}
else {motor_2 = 1;}
pwm_motor_2 = fabs(pwm_2);
}